small_gicp::RestrictDoFFactor Struct Reference

Factor to restrict the degrees of freedom of optimization (e.g., fixing roll, pitch rotation). More...

#include <general_factor.hpp>

Public Member Functions
	RestrictDoFFactor ()
	Constructor. More...
void	set_rotation_mask (const Eigen::Array3d &rot_mask)
	Set rotation mask. (1.0 = active, 0.0 = inactive) More...
void	set_translation_mask (const Eigen::Array3d &trans_mask)
	Set translation mask. (1.0 = active, 0.0 = inactive) More...
template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree >
void	update_linearized_system (const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const Eigen::Isometry3d &T, Eigen::Matrix< double, 6, 6 > *H, Eigen::Matrix< double, 6, 1 > *b, double *e) const
	Update linearized system consisting of linearized per-point factors. More...
template<typename TargetPointCloud , typename SourcePointCloud >
void	update_error (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, double *e) const
	Update error consisting of per-point factors. More...

Public Attributes
double	lambda
	Regularization parameter (Increasing this makes the constraint stronger) More...
Eigen::Array< double, 6, 1 >	mask
	Mask for restricting DoF (rx, ry, rz, tx, ty, tz) More...

Detailed Description

Factor to restrict the degrees of freedom of optimization (e.g., fixing roll, pitch rotation).

Note

This factor only enables soft constraints. The source point cloud can move to the restricted directions slightly).

Constructor & Destructor Documentation

RestrictDoFFactor()

small_gicp::RestrictDoFFactor::RestrictDoFFactor ( )

inline

Constructor.

Member Function Documentation

set_rotation_mask()

void small_gicp::RestrictDoFFactor::set_rotation_mask ( const Eigen::Array3d &  rot_mask )

inline

Set rotation mask. (1.0 = active, 0.0 = inactive)

set_translation_mask()

void small_gicp::RestrictDoFFactor::set_translation_mask ( const Eigen::Array3d &  trans_mask )

inline

Set translation mask. (1.0 = active, 0.0 = inactive)

update_error()

template<typename TargetPointCloud , typename SourcePointCloud >

void small_gicp::RestrictDoFFactor::update_error ( const TargetPointCloud &  target, const SourcePointCloud &  source, const Eigen::Isometry3d &  T, double *  e  ) const

inline

Update error consisting of per-point factors.

update_linearized_system()

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree >

void small_gicp::RestrictDoFFactor::update_linearized_system ( const TargetPointCloud &  target, const SourcePointCloud &  source, const TargetTree &  target_tree, const Eigen::Isometry3d &  T, Eigen::Matrix< double, 6, 6 > *  H, Eigen::Matrix< double, 6, 1 > *  b, double *  e  ) const

inline

Update linearized system consisting of linearized per-point factors.

Member Data Documentation

lambda

double small_gicp::RestrictDoFFactor::lambda

Regularization parameter (Increasing this makes the constraint stronger)

mask

Eigen::Array<double, 6, 1> small_gicp::RestrictDoFFactor::mask

Mask for restricting DoF (rx, ry, rz, tx, ty, tz)

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The documentation for this struct was generated from the following file:

• /home/runner/work/small_gicp/small_gicp/include/small_gicp/factors/general_factor.hpp